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Use new deprecated flag

release/4.3a0
dellaert 2016-01-28 01:13:55 -08:00
parent 558dfa458a
commit ad01b73eba
7 changed files with 13 additions and 13 deletions
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2
gtsam/navigation/CombinedImuFactor.cpp
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@ -241,7 +241,7 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i,
}
//------------------------------------------------------------------------------
#ifdef ALLOW_DEPRECATED_IN_GTSAM4
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
CombinedImuFactor::CombinedImuFactor(
Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j,
const CombinedPreintegratedMeasurements& pim, const Vector3& n_gravity,

2
gtsam/navigation/CombinedImuFactor.h
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@ -278,7 +278,7 @@ public:
boost::optional<Matrix&> H4 = boost::none, boost::optional<Matrix&> H5 =
boost::none, boost::optional<Matrix&> H6 = boost::none) const;
#ifdef ALLOW_DEPRECATED_IN_GTSAM4
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
/// @deprecated typename
typedef gtsam::PreintegratedCombinedMeasurements CombinedPreintegratedMeasurements;

4
gtsam/navigation/ImuFactor.cpp
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@ -82,7 +82,7 @@ void PreintegratedImuMeasurements::integrateMeasurement(
}
//------------------------------------------------------------------------------
#ifdef ALLOW_DEPRECATED_IN_GTSAM4
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
PreintegratedImuMeasurements::PreintegratedImuMeasurements(
const imuBias::ConstantBias& biasHat, const Matrix3& measuredAccCovariance,
const Matrix3& measuredOmegaCovariance,
@ -159,7 +159,7 @@ Vector ImuFactor::evaluateError(const Pose3& pose_i, const Vector3& vel_i,
}
//------------------------------------------------------------------------------
#ifdef ALLOW_DEPRECATED_IN_GTSAM4
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias,
const PreintegratedImuMeasurements& pim, const Vector3& n_gravity,
const Vector3& omegaCoriolis, const boost::optional<Pose3>& body_P_sensor,

4
gtsam/navigation/ImuFactor.h
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@ -120,7 +120,7 @@ public:
/// Return pre-integrated measurement covariance
Matrix preintMeasCov() const { return preintMeasCov_; }
#ifdef ALLOW_DEPRECATED_IN_GTSAM4
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
/// @deprecated constructor
/// NOTE(frank): assumes Z-Down convention, only second order integration supported
PreintegratedImuMeasurements(const imuBias::ConstantBias& biasHat,
@ -225,7 +225,7 @@ public:
boost::optional<Matrix&> H3 = boost::none, boost::optional<Matrix&> H4 =
boost::none, boost::optional<Matrix&> H5 = boost::none) const;
#ifdef ALLOW_DEPRECATED_IN_GTSAM4
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
/// @deprecated typename
typedef PreintegratedImuMeasurements PreintegratedMeasurements;

4
gtsam/navigation/PreintegrationBase.cpp
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@ -20,7 +20,7 @@
**/
#include "PreintegrationBase.h"
#ifdef ALLOW_DEPRECATED_IN_GTSAM4
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
#include <boost/make_shared.hpp>
#endif
@ -359,7 +359,7 @@ Vector9 PreintegrationBase::computeErrorAndJacobians(const Pose3& pose_i,
}
//------------------------------------------------------------------------------
#ifdef ALLOW_DEPRECATED_IN_GTSAM4
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
PoseVelocityBias PreintegrationBase::predict(const Pose3& pose_i,
const Vector3& vel_i, const imuBias::ConstantBias& bias_i,
const Vector3& n_gravity, const Vector3& omegaCoriolis,

8
gtsam/navigation/PreintegrationBase.h
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@ -30,7 +30,7 @@
namespace gtsam {
#ifdef ALLOW_DEPRECATED_IN_GTSAM4
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
/// @deprecated
struct PoseVelocityBias {
Pose3 pose;
@ -102,7 +102,7 @@ class PreintegrationBase {
/// Parameters. Declared mutable only for deprecated predict method.
/// TODO(frank): make const once deprecated method is removed
#ifdef ALLOW_DEPRECATED_IN_GTSAM4
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
mutable
#endif
boost::shared_ptr<Params> p_;
@ -181,7 +181,7 @@ public:
return *boost::static_pointer_cast<Params>(p_);
}
#ifdef ALLOW_DEPRECATED_IN_GTSAM4
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
void set_body_P_sensor(const Pose3& body_P_sensor) {
p_->body_P_sensor = body_P_sensor;
}
@ -280,7 +280,7 @@ public:
/// @}
#ifdef ALLOW_DEPRECATED_IN_GTSAM4
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
/// @name Deprecated
/// @{

2
gtsam/navigation/tests/testPoseVelocityBias.cpp
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@ -25,7 +25,7 @@
using namespace std;
using namespace gtsam;
#ifdef ALLOW_DEPRECATED_IN_GTSAM4
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
// Should be seen as between(pvb1,pvb2), i.e., written as pvb2 \omin pvb1
Vector9 error(const PoseVelocityBias& pvb1, const PoseVelocityBias& pvb2) {